diff options
Diffstat (limited to 'thirdparty/rvo2/rvo2_2d/Vector2.h')
| -rw-r--r-- | thirdparty/rvo2/rvo2_2d/Vector2.h | 346 |
1 files changed, 346 insertions, 0 deletions
diff --git a/thirdparty/rvo2/rvo2_2d/Vector2.h b/thirdparty/rvo2/rvo2_2d/Vector2.h new file mode 100644 index 0000000000..24353e09f3 --- /dev/null +++ b/thirdparty/rvo2/rvo2_2d/Vector2.h @@ -0,0 +1,346 @@ +/* + * Vector2.h + * RVO2 Library + * + * Copyright 2008 University of North Carolina at Chapel Hill + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Please send all bug reports to <geom@cs.unc.edu>. + * + * The authors may be contacted via: + * + * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha + * Dept. of Computer Science + * 201 S. Columbia St. + * Frederick P. Brooks, Jr. Computer Science Bldg. + * Chapel Hill, N.C. 27599-3175 + * United States of America + * + * <http://gamma.cs.unc.edu/RVO2/> + */ + +#ifndef RVO_VECTOR2_H_ +#define RVO_VECTOR2_H_ + +/** + * \file Vector2.h + * \brief Contains the Vector2 class. + */ + +#include <cmath> +#include <ostream> + +namespace RVO2D { + /** + * \brief Defines a two-dimensional vector. + */ + class Vector2 { + public: + /** + * \brief Constructs and initializes a two-dimensional vector instance + * to (0.0, 0.0). + */ + inline Vector2() : x_(0.0f), y_(0.0f) { } + + /** + * \brief Constructs and initializes a two-dimensional vector from + * the specified xy-coordinates. + * \param x The x-coordinate of the two-dimensional + * vector. + * \param y The y-coordinate of the two-dimensional + * vector. + */ + inline Vector2(float x, float y) : x_(x), y_(y) { } + + inline Vector2(const Vector2 &vector) + { + x_ = vector.x(); + y_ = vector.y(); + } + + /** + * \brief Returns the x-coordinate of this two-dimensional vector. + * \return The x-coordinate of the two-dimensional vector. + */ + inline float x() const { return x_; } + + /** + * \brief Returns the y-coordinate of this two-dimensional vector. + * \return The y-coordinate of the two-dimensional vector. + */ + inline float y() const { return y_; } + + /** + * \brief Computes the negation of this two-dimensional vector. + * \return The negation of this two-dimensional vector. + */ + inline Vector2 operator-() const + { + return Vector2(-x_, -y_); + } + + /** + * \brief Computes the dot product of this two-dimensional vector with + * the specified two-dimensional vector. + * \param vector The two-dimensional vector with which the + * dot product should be computed. + * \return The dot product of this two-dimensional vector with a + * specified two-dimensional vector. + */ + inline float operator*(const Vector2 &vector) const + { + return x_ * vector.x() + y_ * vector.y(); + } + + /** + * \brief Computes the scalar multiplication of this + * two-dimensional vector with the specified scalar value. + * \param s The scalar value with which the scalar + * multiplication should be computed. + * \return The scalar multiplication of this two-dimensional vector + * with a specified scalar value. + */ + inline Vector2 operator*(float s) const + { + return Vector2(x_ * s, y_ * s); + } + + /** + * \brief Computes the scalar division of this two-dimensional vector + * with the specified scalar value. + * \param s The scalar value with which the scalar + * division should be computed. + * \return The scalar division of this two-dimensional vector with a + * specified scalar value. + */ + inline Vector2 operator/(float s) const + { + const float invS = 1.0f / s; + + return Vector2(x_ * invS, y_ * invS); + } + + /** + * \brief Computes the vector sum of this two-dimensional vector with + * the specified two-dimensional vector. + * \param vector The two-dimensional vector with which the + * vector sum should be computed. + * \return The vector sum of this two-dimensional vector with a + * specified two-dimensional vector. + */ + inline Vector2 operator+(const Vector2 &vector) const + { + return Vector2(x_ + vector.x(), y_ + vector.y()); + } + + /** + * \brief Computes the vector difference of this two-dimensional + * vector with the specified two-dimensional vector. + * \param vector The two-dimensional vector with which the + * vector difference should be computed. + * \return The vector difference of this two-dimensional vector with a + * specified two-dimensional vector. + */ + inline Vector2 operator-(const Vector2 &vector) const + { + return Vector2(x_ - vector.x(), y_ - vector.y()); + } + + /** + * \brief Tests this two-dimensional vector for equality with the + * specified two-dimensional vector. + * \param vector The two-dimensional vector with which to + * test for equality. + * \return True if the two-dimensional vectors are equal. + */ + inline bool operator==(const Vector2 &vector) const + { + return x_ == vector.x() && y_ == vector.y(); + } + + /** + * \brief Tests this two-dimensional vector for inequality with the + * specified two-dimensional vector. + * \param vector The two-dimensional vector with which to + * test for inequality. + * \return True if the two-dimensional vectors are not equal. + */ + inline bool operator!=(const Vector2 &vector) const + { + return x_ != vector.x() || y_ != vector.y(); + } + + /** + * \brief Sets the value of this two-dimensional vector to the scalar + * multiplication of itself with the specified scalar value. + * \param s The scalar value with which the scalar + * multiplication should be computed. + * \return A reference to this two-dimensional vector. + */ + inline Vector2 &operator*=(float s) + { + x_ *= s; + y_ *= s; + + return *this; + } + + /** + * \brief Sets the value of this two-dimensional vector to the scalar + * division of itself with the specified scalar value. + * \param s The scalar value with which the scalar + * division should be computed. + * \return A reference to this two-dimensional vector. + */ + inline Vector2 &operator/=(float s) + { + const float invS = 1.0f / s; + x_ *= invS; + y_ *= invS; + + return *this; + } + + /** + * \brief Sets the value of this two-dimensional vector to the vector + * sum of itself with the specified two-dimensional vector. + * \param vector The two-dimensional vector with which the + * vector sum should be computed. + * \return A reference to this two-dimensional vector. + */ + inline Vector2 &operator+=(const Vector2 &vector) + { + x_ += vector.x(); + y_ += vector.y(); + + return *this; + } + + /** + * \brief Sets the value of this two-dimensional vector to the vector + * difference of itself with the specified two-dimensional + * vector. + * \param vector The two-dimensional vector with which the + * vector difference should be computed. + * \return A reference to this two-dimensional vector. + */ + inline Vector2 &operator-=(const Vector2 &vector) + { + x_ -= vector.x(); + y_ -= vector.y(); + + return *this; + } + + inline Vector2 &operator=(const Vector2 &vector) + { + x_ = vector.x(); + y_ = vector.y(); + + return *this; + } + + private: + float x_; + float y_; + }; + + /** + * \relates Vector2 + * \brief Computes the scalar multiplication of the specified + * two-dimensional vector with the specified scalar value. + * \param s The scalar value with which the scalar + * multiplication should be computed. + * \param vector The two-dimensional vector with which the scalar + * multiplication should be computed. + * \return The scalar multiplication of the two-dimensional vector with the + * scalar value. + */ + inline Vector2 operator*(float s, const Vector2 &vector) + { + return Vector2(s * vector.x(), s * vector.y()); + } + + /** + * \relates Vector2 + * \brief Inserts the specified two-dimensional vector into the specified + * output stream. + * \param os The output stream into which the two-dimensional + * vector should be inserted. + * \param vector The two-dimensional vector which to insert into + * the output stream. + * \return A reference to the output stream. + */ + inline std::ostream &operator<<(std::ostream &os, const Vector2 &vector) + { + os << "(" << vector.x() << "," << vector.y() << ")"; + + return os; + } + + /** + * \relates Vector2 + * \brief Computes the length of a specified two-dimensional vector. + * \param vector The two-dimensional vector whose length is to be + * computed. + * \return The length of the two-dimensional vector. + */ + inline float abs(const Vector2 &vector) + { + return std::sqrt(vector * vector); + } + + /** + * \relates Vector2 + * \brief Computes the squared length of a specified two-dimensional + * vector. + * \param vector The two-dimensional vector whose squared length + * is to be computed. + * \return The squared length of the two-dimensional vector. + */ + inline float absSq(const Vector2 &vector) + { + return vector * vector; + } + + /** + * \relates Vector2 + * \brief Computes the determinant of a two-dimensional square matrix with + * rows consisting of the specified two-dimensional vectors. + * \param vector1 The top row of the two-dimensional square + * matrix. + * \param vector2 The bottom row of the two-dimensional square + * matrix. + * \return The determinant of the two-dimensional square matrix. + */ + inline float det(const Vector2 &vector1, const Vector2 &vector2) + { + return vector1.x() * vector2.y() - vector1.y() * vector2.x(); + } + + /** + * \relates Vector2 + * \brief Computes the normalization of the specified two-dimensional + * vector. + * \param vector The two-dimensional vector whose normalization + * is to be computed. + * \return The normalization of the two-dimensional vector. + */ + inline Vector2 normalize(const Vector2 &vector) + { + return vector / abs(vector); + } +} + +#endif /* RVO_VECTOR2_H_ */ |